CN109590992A - A kind of multi-joint parallel connected bionic robot - Google Patents
A kind of multi-joint parallel connected bionic robot Download PDFInfo
- Publication number
- CN109590992A CN109590992A CN201910007632.3A CN201910007632A CN109590992A CN 109590992 A CN109590992 A CN 109590992A CN 201910007632 A CN201910007632 A CN 201910007632A CN 109590992 A CN109590992 A CN 109590992A
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- Prior art keywords
- joint
- linear motor
- fixed link
- servo linear
- spherical
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 239000000203 mixture Substances 0.000 claims description 5
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 210000003205 muscle Anatomy 0.000 abstract description 2
- 238000013519 translation Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multi-joint parallel connected bionic robots, including joint ontology and control cabinet, the joint ontology is by knuckle support, servo linear motor, the first spherical joint, the second spherical joint, ball-screw mould group and connection leg, the knuckle support is equipped with servo linear motor, the quantity of the servo linear motor is, the turning end of the servo linear motor is connected with the nut of ball-screw mould group, and robot is integrally made of several joints with servo linear motor.The connection in joint is the bulb joint of rigidity.Guarantee that failure is living again while rigidity operates, motion profile controllability is strong, can make various compound actions.More traditional spring wire V belt translation or for pneumatic muscles driving discreteness joint.Movement and control are more accurate, and convenient for control, and single joint ontology is easy for installation, convenient for increasing and decreasing the quantity of joint ontology, realize flexible configuration in different occasions.
Description
Technical field
The present invention relates to robotic technology field, specific field is a kind of multi-joint parallel connected bionic robot.
Background technique
Articulated robot is existing operating equipment essential in the industrial production, and traditional articulated robot is mostly machinery
The articulated robot of hand formula, but the movement that traditional hand type robot can be done is less, and existing trunk-type robot energy
The movement made is also limited, and installs extremely complex, maintenance cost height, and maintenance difficult, so needing one kind on the market
New articulated robot.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-joint parallel connected bionic robots, to solve to propose in above-mentioned background technique
The problem of.
To achieve the above object, it the invention provides the following technical scheme: a kind of multi-joint parallel connected bionic robot, including closes
Abridged edition body and control cabinet, the joint ontology is by knuckle support, servo linear motor, the first spherical joint, the second spherical pass
Section, ball-screw mould group and connection leg, the knuckle support are equipped with servo linear motor, the number of the servo linear motor
Amount is that the turning end of the servo linear motor is connected with the nut of ball-screw mould group, the lead screw of the ball-screw mould group
Place is connected with the first spherical joint, and the first spherical joint is made of the first fixed link and the first steel ball, in first fixed link
Equipped with the first spherical groove, first steel ball is rotatablely connected by the first spherical groove and the first fixed link, the described second spherical pass
Section is made of the second fixed link and the second steel ball, and second fixed link is equipped with the second spherical groove, and second steel ball passes through
Second spherical groove and the second fixed link are rotatablely connected, and the lower end of second fixed link is equipped with connection leg, the connection leg
Quantity be 3, three connection legs are connected with knuckle support, multiple joint ontologies compositions robots entirety, preceding
One joint ontology is connected by the first fixed link and the second fixed link with the knuckle support of joint ontology described in the latter,
Robot is whole to be connected with control cabinet.
Preferably, the control cabinet controls servo linear motor by pulse signal.
Preferably, it is 30mm that the mobile terminal of the ball-screw mould group, which is lead screw its range,.
Preferably, opening is uniformly provided on the knuckle support.
Compared with prior art, the beneficial effects of the present invention are: a kind of multi-joint parallel connected bionic robot, robot are whole
It is made of several joints with servo linear motor.The connection in joint is the bulb joint of rigidity.Guarantee rigidly operates same
When failure is living again, motion profile controllability is strong, can make various compound actions.More traditional spring wire V belt translation or
For the discreteness joint of pneumatic muscles driving.Movement and control are more accurate, and convenient for control, and single joint ontology is installed
It is convenient, convenient for increasing and decreasing the quantity of joint ontology, flexible configuration is realized in different occasions.
Detailed description of the invention
Fig. 1 is structure of the main view of the invention；
Fig. 2 is the structure enlargement diagram at A；
Fig. 3 is the structure of the main view of the second fixed link and the second steel ball of the invention.
In figure: the joint 1- ontology, 101- knuckle support, 102- servo linear motor, the first spherical joint of 103-, 1031-
First fixed link, the first steel ball of 1032-, the second spherical joint of 104-, the second fixed link of 1041-, the second steel ball of 1042-, 105-
Ball-screw mould group, 106- connection leg, 2- control cabinet.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution: a kind of multi-joint parallel connected bionic robot, including joint
Ontology 1 and control cabinet 2, the joint ontology is by knuckle support 101, servo linear motor 102, the first spherical joint 103, the
Two spherical joints 104, ball-screw mould group 105 and connection leg 106, the knuckle support are equipped with servo linear motor, institute
The quantity for stating servo linear motor is that the turning end of the servo linear motor is connected with the nut of ball-screw mould group, ball
Lead screw mould splits is nut and two primary structures of lead screw, nut can be driven to rotate by servo linear motor, to make silk
Thick stick moves along a straight line, and the first spherical joint is connected at the lead screw of the ball-screw mould group, the first spherical joint is by first
Fixed link 1031 and the first steel ball 1032 composition, first fixed link are equipped with the first spherical groove, and first steel ball passes through
First spherical groove and the first fixed link are rotatablely connected, and second spherical joint is by the second fixed link 1041 and the second steel ball 1042
Composition, second fixed link are equipped with the second spherical groove, and second steel ball is turned by the second spherical groove and the second fixed link
Dynamic connection, the lower end of second fixed link are equipped with connection leg, and the quantity of the connection leg is 3, three connection branch
Leg is connected with knuckle support, and multiple joint ontology composition robots are whole, and the previous joint ontology passes through first
Fixed link and the second fixed link are connected with the knuckle support of joint ontology described in the latter, and the first bulb joint and the second bulb close
Section is rigid bulb joint, it is ensured that connection, the band of three servo linear motors are kept fixed between two joint ontologies
Dynamic three the first spherical joints are mobile, so that the second spherical joint be made to move, realize robot it is whole it is flexible with it is curved
Song, robot is whole to be connected with control cabinet.
Specifically, the control cabinet controls servo linear motor by pulse signal.
Specifically, it is 30mm that the mobile terminal of the ball-screw mould group, which is lead screw its range,.
Specifically, being uniformly provided with opening on the knuckle support, opening is convenient to threading wiring.
Working principle: the present invention takes the displacement of linear motor by three privates of control to realize to the deflection of joint ontology
Angle is controlled, and control cabinet is Parallel Control to the control mode of joint ontology, to realize the various dynamic of robot entirety
Make, and in whole layout, there are vacancy at knuckle support, not only for the weight for mitigating structure, also for convenient
Threading wiring.It is more advantageous to integrity design of the invention.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of multi-joint parallel connected bionic robot, including joint ontology (1) and control cabinet (2), it is characterised in that: the pass
Abridged edition body (1) is by knuckle support (101), servo linear motor (102), the first spherical joint (103), the second spherical joint
(104), ball-screw mould group (105) and connection leg (106), the knuckle support (101) are equipped with servo linear motor
(102), the quantity of the servo linear motor (102) is (3), the turning end and ball wire of the servo linear motor (102)
The nut of thick stick mould group (105) is connected, and is connected with the first spherical joint (103) at the lead screw of the ball-screw mould group (105), the
One spherical joint (103) is made of the first fixed link (1031) and the first steel ball (1032), on first fixed link (1031)
Equipped with the first spherical groove, first steel ball (1032) is rotatablely connected by the first spherical groove and the first fixed link (1031), institute
It states the second spherical joint (104) to be made of the second fixed link (1041) and the second steel ball (1042), second fixed link
(1041) it is equipped with the second spherical groove, second steel ball (1042) is rotated by the second spherical groove and the second fixed link (1041)
The lower end of connection, second fixed link (1041) is equipped with connection leg (106), and the quantity of the connection leg (106) is 3,
Three connection legs (106) are connected with knuckle support (101), and multiple joint ontology (1) composition robots are whole,
The previous joint ontology (1) passes through joint sheet described in the first fixed link (1031) and the second fixed link (1041) and the latter
The knuckle support (101) of body (1) is connected, and the robot is whole to be connected with control cabinet (2).
2. a kind of multi-joint parallel connected bionic robot according to claim 1, it is characterised in that: the control cabinet (2)
Servo linear motor (102) are controlled by pulse signal.
3. a kind of multi-joint parallel connected bionic robot according to claim 1, it is characterised in that: the ball-screw mould group
(105) it is 30mm that mobile terminal, which is lead screw its range,.
4. a kind of multi-joint parallel connected bionic robot according to claim 1, it is characterised in that: the knuckle support
(101) opening is uniformly provided on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910007632.3A CN109590992B (en) | 2019-01-04 | 2019-01-04 | Multi-joint parallel bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910007632.3A CN109590992B (en) | 2019-01-04 | 2019-01-04 | Multi-joint parallel bionic robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109590992A true CN109590992A (en) | 2019-04-09 |
| CN109590992B CN109590992B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910007632.3A Active CN109590992B (en) | 2019-01-04 | 2019-01-04 | Multi-joint parallel bionic robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112535614A (en) * | 2020-12-04 | 2021-03-23 | 济南国科医工科技发展有限公司 | Multi-degree-of-freedom parallel type rehabilitation robot joint |
| CN114669223A (en) * | 2022-05-27 | 2022-06-28 | 翊新诊断技术(苏州)有限公司 | Mechanical gripper device capable of being used for automatic vortex oscillation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990038502A (en) * | 1997-11-05 | 1999-06-05 | 김종원 | Parallel mechanism structure for controlling position and posture in three dimensions |
| JP2000246675A (en) * | 1999-02-26 | 2000-09-12 | Hitachi Zosen Corp | Robot device |
| DE102004058450A1 (en) * | 2004-12-03 | 2006-06-08 | Hartmut Friedrich | Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements |
| KR100798353B1 (en) * | 2006-09-20 | 2008-01-28 | 왕현민 | Motion table for control object attitude simulation |
| CN101973027A (en) * | 2010-09-27 | 2011-02-16 | 韩方元 | Method for connecting parallel connection walking robots and parallel connection walking robot thereof |
| CN103029121A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure |
| CN107263523A (en) * | 2017-06-23 | 2017-10-20 | 嘉兴学院 | A kind of bionic joint based on pneumatic muscles series-parallel connection |
| CN209408486U (en) * | 2019-01-04 | 2019-09-20 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connected bionic robot |
-
2019
- 2019-01-04 CN CN201910007632.3A patent/CN109590992B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990038502A (en) * | 1997-11-05 | 1999-06-05 | 김종원 | Parallel mechanism structure for controlling position and posture in three dimensions |
| JP2000246675A (en) * | 1999-02-26 | 2000-09-12 | Hitachi Zosen Corp | Robot device |
| DE102004058450A1 (en) * | 2004-12-03 | 2006-06-08 | Hartmut Friedrich | Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements |
| KR100798353B1 (en) * | 2006-09-20 | 2008-01-28 | 왕현민 | Motion table for control object attitude simulation |
| CN101973027A (en) * | 2010-09-27 | 2011-02-16 | 韩方元 | Method for connecting parallel connection walking robots and parallel connection walking robot thereof |
| CN103029121A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure |
| CN107263523A (en) * | 2017-06-23 | 2017-10-20 | 嘉兴学院 | A kind of bionic joint based on pneumatic muscles series-parallel connection |
| CN209408486U (en) * | 2019-01-04 | 2019-09-20 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connected bionic robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112535614A (en) * | 2020-12-04 | 2021-03-23 | 济南国科医工科技发展有限公司 | Multi-degree-of-freedom parallel type rehabilitation robot joint |
| CN112535614B (en) * | 2020-12-04 | 2023-05-12 | 济南国科医工科技发展有限公司 | Multi-degree-of-freedom parallel rehabilitation robot joint |
| CN114669223A (en) * | 2022-05-27 | 2022-06-28 | 翊新诊断技术(苏州)有限公司 | Mechanical gripper device capable of being used for automatic vortex oscillation |
| CN114669223B (en) * | 2022-05-27 | 2022-08-23 | 翊新诊断技术(苏州)有限公司 | Mechanical gripper device capable of being used for automatic vortex oscillation |
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| Publication number | Publication date |
|---|---|
| CN109590992B (en) | 2024-01-30 |
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